Fault-Tolerant Guidance of Rocket Vertical Landing Phase Based on MPC Framework
Algorithm 1
Piecewise guidance algorithm based on MPC framework.
Piecewise guidance algorithm based on MPC framework
Initialization: Save the initial trajectory to the database, set relevant parameters required by the trajectory optimization algorithm, and set the update index .
1 while
2 generate guidance commands according to the guidance cycle clock;
3 sample the current state (i.e. ) of the rocket;
4 employ the optimal trajectory which was obtained in the previous guidance cycle as the initial guess. Start the trajectory optimization using the current state . Obtain a new optimal trajectory and an optimal thrust series . Save to the database, implement , and set ;
5 if a fault occurs and approaches the switching point
